version: 67.00
glider: 185
mission: 0
dive: 86
start: 2 17 116 20 4 43
data:
$ID,185
$MISSION,0
$DIVE,86
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,400
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51725
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,515.13
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,129
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,25
$PITCH_TIMEOUT,30
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,5
$MAXI_10V,0.80000001
$FG_AHR_10V,29.019701
$FG_AHR_24V,19.502493
$PHONE_SUPPLY,2
$PRESSURE_YINT,-150.34485
$PRESSURE_SLOPE,0.00010658
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,900
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,0
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,48
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,4
$SIM_W,0.1
$SEABIRD_T_G,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0309124e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686048
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,170216,195457,4739.312,-12219.016,24,0.8,46,15.9
$_CALLS,5
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-3.0
$GPS2,170216,200433,4739.311,-12219.015,3,0.8,6,15.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,300.2,10761,-18.2,-10.000,-20.99
$D_GRID,1000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,4.86,2,-146.63,-0.91,0.00,501.9,502.8,501.1,447.0,2010.3,0.00,0.00,0,36.54,31.01,0.00,0.00,0.000,0.000,0.000,1353.38,1447.50,1259.25,447.19,2009.81,0,0,0,26.43,30.00,30.00
$GC,36.80,263,-146.63,-0.91,40.00,1353.0,1446.8,1259.2,447.3,2009.9,3.59,-10.28,3,134.72,82.96,6.95,3.39,0.000,0.062,0.043,3195.19,3283.06,3107.31,2559.06,3442.56,0,0,0,26.72,27.82,26.74
$GC,401.21,1156,-146.63,-0.86,0.00,3196.0,3282.8,3109.3,2558.0,3442.2,40.35,-10.15,76,407.49,0.00,0.00,3.16,0.000,0.000,0.026,3196.28,3283.25,3109.31,2557.81,2016.00,0,0,0,30.00,30.00,28.16
$GC,586.24,389,-146.63,-0.80,40.00,3196.7,3283.8,3109.5,2558.8,2015.6,59.02,-10.16,95,592.19,0.00,0.14,3.37,0.000,0.055,0.041,3195.91,3282.81,3109.00,2588.69,3442.38,0,0,0,30.00,28.31,28.01
$GC,861.62,1188,-146.63,-0.75,0.00,3196.1,3282.8,3109.4,2591.3,3441.8,86.66,-9.78,150,867.48,0.00,0.00,3.16,0.000,0.000,0.026,3196.12,3283.38,3108.88,2590.94,2014.75,0,0,0,30.00,30.00,28.20
$GC,1046.46,421,-146.63,-0.69,40.00,3196.2,3283.7,3108.6,2591.7,2015.1,105.24,-9.82,169,1052.19,0.00,0.14,3.37,0.000,0.057,0.041,3197.66,3285.06,3110.25,2626.44,3441.94,0,0,0,30.00,28.34,28.02
$GC,1321.42,1188,-146.63,-0.64,0.00,3196.8,3283.9,3109.8,2625.6,3441.5,132.37,-9.58,224,1327.48,0.00,0.00,3.12,0.000,0.000,0.026,3197.03,3284.44,3109.62,2625.62,2014.38,0,0,0,30.00,30.00,28.22
$GC,1506.79,389,-146.63,-0.59,40.00,3196.0,3282.8,3109.2,2625.9,2015.0,151.17,-10.31,243,1512.58,0.00,0.14,3.39,0.000,0.057,0.041,3196.75,3284.38,3109.12,2659.50,3443.62,0,0,0,30.00,28.38,28.02
$GC,1781.67,1188,-146.63,-0.53,0.00,3195.6,3283.4,3107.9,2658.7,3444.2,178.42,-9.93,298,1787.38,0.00,0.00,3.13,0.000,0.000,0.026,3196.25,3283.31,3109.19,2658.88,2017.38,0,0,0,30.00,30.00,28.23
$GC,1966.45,421,-146.63,-0.48,40.00,3196.0,3282.9,3109.1,2659.8,2018.5,196.86,-9.92,317,1972.58,0.00,0.14,3.38,0.000,0.058,0.041,3197.12,3284.00,3110.25,2691.31,3442.44,0,0,0,30.00,28.42,28.02
$GC,2241.55,1156,-146.63,-0.43,0.00,3196.2,3284.0,3108.4,2693.6,3442.3,224.16,-10.03,372,2247.49,0.00,0.00,3.13,0.000,0.000,0.026,3197.88,3284.31,3111.44,2692.81,2015.19,0,0,0,30.00,30.00,28.24
$GC,2426.50,389,-146.63,-0.37,40.00,3195.4,3282.2,3108.6,2692.8,2014.9,242.57,-10.21,391,2432.20,0.00,0.14,3.38,0.000,0.058,0.041,3196.78,3283.81,3109.75,2727.88,3443.19,0,0,0,30.00,28.42,28.01
$GC,2701.12,1156,-146.63,-0.32,0.00,3195.7,3282.8,3108.6,2729.2,3443.2,270.02,-10.07,446,2707.49,0.00,0.00,3.14,0.000,0.000,0.026,3195.75,3283.00,3108.50,2729.31,2013.38,0,0,0,30.00,30.00,28.24
$GC,2886.45,389,-146.63,-0.27,40.00,3195.4,3282.9,3107.9,2728.3,2013.2,288.26,-10.07,465,2892.20,0.00,0.14,3.38,0.000,0.057,0.041,3195.62,3283.00,3108.25,2761.56,3444.19,0,0,0,30.00,28.43,28.01
$GC,3161.15,1156,-146.63,-0.21,0.00,3195.5,3282.8,3108.3,2760.1,3443.3,315.78,-10.25,520,3167.49,0.00,0.00,3.12,0.000,0.000,0.026,3196.03,3282.94,3109.12,2761.75,2016.25,0,0,0,30.00,30.00,28.23
$GC,3346.49,421,-146.63,-0.16,40.00,3195.6,3282.6,3108.5,2762.3,2016.2,333.94,-9.74,539,3352.58,0.00,0.14,3.37,0.000,0.058,0.041,3197.53,3284.00,3111.06,2797.19,3442.12,0,0,0,30.00,28.45,28.00
$STATE,3612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3612,begin apogee
$GC,3615.75,2,0.00,-0.20,0.00,3195.8,3282.8,3108.8,2796.2,2016.8,360.48,10.04,592,3722.91,105.79,0.00,0.04,0.413,0.000,0.101,2598.91,2654.19,2543.62,2794.19,2029.31,0,0,0,23.12,30.00,27.30
$STATE,3724,end apogee,CONTROL_FINISHED_OK
$STATE,3724,begin climb
$GC,3723.53,519,146.63,0.91,-40.00,2591.2,2647.6,2534.7,2797.3,2029.6,349.82,0.00,603,3841.78,110.91,1.47,3.26,0.394,0.055,0.024,1993.69,2046.19,1941.19,3139.75,604.31,0,0,0,24.43,27.54,26.90
$GC,4108.37,1188,151.67,0.86,0.00,1982.2,2040.2,1924.2,3139.2,604.1,310.50,9.77,680,4114.55,0.00,0.00,3.20,0.000,0.000,0.026,1982.91,2041.56,1924.25,3139.25,2029.62,0,0,0,30.00,30.00,27.79
$GC,4297.98,644,151.67,0.81,-40.00,1981.2,2039.9,1922.5,3139.2,2030.1,291.34,10.03,700,4304.52,0.00,0.00,3.15,0.000,0.000,0.023,1983.69,2042.38,1925.00,3140.88,604.38,0,0,0,30.00,30.00,27.95
$GC,4573.09,1191,155.65,0.76,0.00,1980.8,2039.8,1921.8,3138.9,604.1,263.92,9.82,755,4579.30,1.53,0.17,3.18,0.156,0.046,0.026,1961.56,2018.62,1904.50,3087.06,2028.06,0,0,0,22.64,27.92,28.01
$GC,4758.66,644,155.65,0.71,-40.00,1960.9,2015.6,1906.2,3086.8,2027.4,245.40,10.02,774,4764.14,0.00,0.00,3.13,0.000,0.000,0.023,1961.31,2016.00,1906.62,3086.69,602.56,0,0,0,30.00,30.00,28.11
$GC,5033.76,1188,156.05,0.65,0.00,1960.9,2016.0,1905.9,3087.7,602.8,218.01,9.98,829,5039.54,0.00,0.00,3.17,0.000,0.000,0.026,1961.78,2016.75,1906.81,3086.94,2027.88,0,0,0,30.00,30.00,28.08
$GC,5218.69,679,160.03,0.60,-40.00,1960.8,2015.5,1906.0,3086.2,2027.6,199.27,9.82,848,5225.69,1.55,0.17,3.12,0.156,0.048,0.024,1941.59,1996.69,1886.50,3037.06,604.12,0,0,0,21.95,28.29,27.96
$GC,5493.58,1190,163.41,0.55,0.00,1944.5,1997.6,1891.4,3035.7,604.1,171.80,9.85,903,5499.60,1.33,0.00,3.17,0.166,0.000,0.026,1932.69,1987.31,1878.06,3035.62,2029.94,0,0,0,23.01,30.00,28.15
$GC,5683.50,676,165.17,0.50,-40.00,1930.5,1984.6,1876.4,3036.8,2030.5,152.72,9.92,923,5689.15,0.00,0.00,3.12,0.000,0.000,0.023,1932.78,1986.62,1878.94,3036.19,602.62,0,0,0,30.00,30.00,28.24
$GC,5958.39,1157,165.17,0.45,0.00,1930.8,1984.3,1877.2,3035.9,602.6,125.09,10.00,978,5964.23,0.00,0.17,3.16,0.000,0.047,0.027,1932.31,1986.00,1878.62,2987.62,2025.75,0,0,0,30.00,28.07,28.17
$GC,6143.61,678,171.69,0.40,-40.00,1930.9,1984.3,1877.4,2987.9,2025.6,106.83,9.70,997,6151.26,3.23,0.00,3.10,0.206,0.000,0.024,1895.69,1950.19,1841.19,2988.06,603.75,0,0,0,24.19,30.00,27.71
$GC,6418.11,1156,171.69,0.35,0.00,1897.4,1950.4,1844.4,2987.9,603.6,79.35,10.12,1052,6424.53,0.00,0.00,3.15,0.000,0.000,0.026,1897.50,1951.00,1844.00,2987.62,2030.19,0,0,0,30.00,30.00,28.26
$GC,6608.95,679,174.72,0.30,-40.00,1897.4,1950.6,1844.1,2988.2,2030.0,60.39,9.86,1072,6614.65,1.18,0.16,3.10,0.173,0.047,0.024,1883.47,1937.12,1829.81,2940.56,602.62,0,0,0,22.86,28.45,28.09
$GC,6883.84,1190,177.70,0.25,0.00,1885.6,1938.4,1832.8,2937.6,602.8,32.62,9.86,1127,6889.62,1.28,0.00,3.16,0.171,0.000,0.026,1872.91,1926.94,1818.88,2939.31,2028.81,0,0,0,24.60,30.00,28.25
$GC,7068.93,644,177.70,0.20,-40.00,1873.2,1926.2,1820.3,2938.9,2028.6,14.09,10.03,1146,7074.53,0.00,0.00,3.12,0.000,0.000,0.023,1874.72,1927.75,1821.69,2939.44,601.12,0,0,0,30.00,30.00,28.34
$STATE,7193,end climb,SURFACE_DEPTH_REACHED
$STATE,7193,begin surface coast
$FINISH,-0.0,0.997936
$STATE,7214,end surface coast,CONTROL_FINISHED_OK
$STATE,7214,begin surface
$SM_CCo,7343.26,112.93,0.109,0,498.4,490.6,506.3,515.51
$SM_GC,-0.09,112.93,7.68,3.15,0.109,0.043,0.026,498.4,490.6,506.3,447.1,2028.1,0,0,0,23.82,28.16,28.27
$SUPER,59,70,254,1,0,0
$IRIDIUM_FIX,4722.92,-12220.67,170216,200006
$TCM_TEMP,23.90
$XPDR_PINGS,15
$SC_FREEKB,3993088
$HUMID,47.29
$TEMP,21.77
$INTERNAL_PRESSURE,10.3901
$24V_AH,26.84,7.140
$10V_AH,11.10,17.308
$FG_AHR_24Vo,19.544
$FG_AHR_10Vo,29.057
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,453.715,17.730,102.655,262.606,3.750,7.723,2541.563,5359.021,1625.562,0.000,0.000,0.000
$DEVICE_MAMPS,413.125,62.076,100.911,48.340,420.000,11.200,163.720,2.190,4.080,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.783,0.000,0.000,0.000
$MEM,1135496,36,45472,53
$DATA_FILE_SIZE,40754,1175
$CAP_FILE_SIZE,241577,0
$SDSIZE,4028416,4000352
$ERRORS,0,0,0,0,0,0,0,0
$CURRENT,0.000,270.0,1
$GPS,170216,220757,4739.311,-12219.017,34,0.9,41,15.9